US9999534B2 - Adaptive arm support systems and methods for use - Google Patents

Adaptive arm support systems and methods for use Download PDF

Info

Publication number
US9999534B2
US9999534B2 US13/563,728 US201213563728A US9999534B2 US 9999534 B2 US9999534 B2 US 9999534B2 US 201213563728 A US201213563728 A US 201213563728A US 9999534 B2 US9999534 B2 US 9999534B2
Authority
US
United States
Prior art keywords
arm
user
harness
arm rest
cross bar
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Active, expires
Application number
US13/563,728
Other languages
English (en)
Other versions
US20140033391A1 (en
Inventor
Mark C. Doyle
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Levitate Technologies Inc
Original Assignee
Enhance Technologies LLC
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Enhance Technologies LLC filed Critical Enhance Technologies LLC
Priority to US13/563,728 priority Critical patent/US9999534B2/en
Assigned to LEVITATE TECHNOLOGIES, INC. reassignment LEVITATE TECHNOLOGIES, INC. ASSIGNMENT OF ASSIGNORS INTEREST (SEE DOCUMENT FOR DETAILS). Assignors: DOYLE, MARK C.
Priority to JP2015525523A priority patent/JP6515265B2/ja
Priority to CA2880561A priority patent/CA2880561C/fr
Priority to PCT/US2013/052782 priority patent/WO2014022433A1/fr
Priority to EP13825208.5A priority patent/EP2879843B1/fr
Publication of US20140033391A1 publication Critical patent/US20140033391A1/en
Assigned to Enhance Technologies, LLC reassignment Enhance Technologies, LLC ASSIGNMENT OF ASSIGNORS INTEREST (SEE DOCUMENT FOR DETAILS). Assignors: LEVITATE TECHNOLOGIES, INC.
Priority to US16/011,577 priority patent/US11045342B2/en
Publication of US9999534B2 publication Critical patent/US9999534B2/en
Application granted granted Critical
Assigned to LEVITATE TECHNOLOGIES, INC. reassignment LEVITATE TECHNOLOGIES, INC. ASSIGNMENT OF ASSIGNORS INTEREST (SEE DOCUMENT FOR DETAILS). Assignors: Enhance Technologies, LLC
Active legal-status Critical Current
Adjusted expiration legal-status Critical

Links

Images

Classifications

    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61F—FILTERS IMPLANTABLE INTO BLOOD VESSELS; PROSTHESES; DEVICES PROVIDING PATENCY TO, OR PREVENTING COLLAPSING OF, TUBULAR STRUCTURES OF THE BODY, e.g. STENTS; ORTHOPAEDIC, NURSING OR CONTRACEPTIVE DEVICES; FOMENTATION; TREATMENT OR PROTECTION OF EYES OR EARS; BANDAGES, DRESSINGS OR ABSORBENT PADS; FIRST-AID KITS
    • A61F5/00—Orthopaedic methods or devices for non-surgical treatment of bones or joints; Nursing devices; Anti-rape devices
    • A61F5/01—Orthopaedic devices, e.g. splints, casts or braces
    • A61F5/0102—Orthopaedic devices, e.g. splints, casts or braces specially adapted for correcting deformities of the limbs or for supporting them; Ortheses, e.g. with articulations
    • A61F5/0104—Orthopaedic devices, e.g. splints, casts or braces specially adapted for correcting deformities of the limbs or for supporting them; Ortheses, e.g. with articulations without articulation
    • A61F5/0118—Orthopaedic devices, e.g. splints, casts or braces specially adapted for correcting deformities of the limbs or for supporting them; Ortheses, e.g. with articulations without articulation for the arms, hands or fingers
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B90/00—Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups A61B1/00 - A61B50/00, e.g. for luxation treatment or for protecting wound edges
    • A61B90/50—Supports for surgical instruments, e.g. articulated arms
    • A61B90/53—Supports for surgical instruments, e.g. articulated arms connected to the surgeon's body, e.g. by a belt
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61F—FILTERS IMPLANTABLE INTO BLOOD VESSELS; PROSTHESES; DEVICES PROVIDING PATENCY TO, OR PREVENTING COLLAPSING OF, TUBULAR STRUCTURES OF THE BODY, e.g. STENTS; ORTHOPAEDIC, NURSING OR CONTRACEPTIVE DEVICES; FOMENTATION; TREATMENT OR PROTECTION OF EYES OR EARS; BANDAGES, DRESSINGS OR ABSORBENT PADS; FIRST-AID KITS
    • A61F5/00—Orthopaedic methods or devices for non-surgical treatment of bones or joints; Nursing devices; Anti-rape devices
    • A61F5/37—Restraining devices for the body or for body parts, e.g. slings; Restraining shirts
    • A61F5/3715—Restraining devices for the body or for body parts, e.g. slings; Restraining shirts for attaching the limbs to other parts of the body
    • A61F5/3723—Restraining devices for the body or for body parts, e.g. slings; Restraining shirts for attaching the limbs to other parts of the body for the arms
    • A61F5/3738—Slings
    • A61F5/3746—Jacket-like sling

Definitions

  • the present invention relates to systems, devices, and methods for supporting a user's arms, for example, to adaptive arm support systems that support one or both of a user's arms, while allowing substantially free motion, e.g., to allow the user to perform one or more tasks for extended periods of time with one or both arms extended.
  • the present invention is directed to systems, devices, and methods for supporting a user's arms, for example, to adaptive arm support systems or devices that support one or both of a user's arms, while allowing substantially free motion, e.g., to allow the user to perform one or more tasks for extended periods of time with one or both arms extended.
  • a system for supporting an arm of a user that includes a harness configured to be worn by a user, e.g., on the user's torso; and an arm support coupled to the harness and configured to support a portion of an arm of the user, the arm support configured to accommodate movement of the arm while following the movement without substantially interfering with the movement.
  • the arm support may be configured to at least partially offset a gravitational force acting on the arm as the user moves and the arm support follows the movement of the user's arm.
  • the arm support may transfer at least a portion of the weight of the user's arm to the torso or other region of the user's body and/or may apply an opposing force to at least partially offset the gravitational force acting on the arm.
  • the system includes one or more compensation elements coupled to the arm support to at least partially offset a gravitational force acting on the arm as the user moves and the arm support follows the movement of the user's arm.
  • the compensation element(s) may include one or more compensation elements coupled to the arm support to at least partially offset the gravitational force acting on the arm of the user as the user moves without substantially interfering with movement of the user's arm.
  • a system for supporting an arm of a user that includes a harness configured to be worn by a user, e.g., on the user's torso, the harness defining a vertical axis extending generally parallel to a spine of the user wearing the harness.
  • An arm support may be coupled to the harness and may include an arm rest configured to support a portion of an arm of the user, the support movable without substantially interfering in movement of the user's arm.
  • the arm support may include one or more compensation elements coupled to the arm support to at least partially offset a gravitational force acting on the arm of the user as the user moves and the arm support follows the user's movement.
  • a pair of arm supports and associated compensation elements may be coupled to the harness for supporting both arms of the user.
  • the one or more compensation elements may include a resilient member including a first end coupled to the harness and a second end coupled to the arm supports.
  • the resilient member may be biased to a predetermined orientation, e.g., a substantially straight configuration, yet may be resiliently deflectable to accommodate movement of the arm of the user and/or provide a lifting or other reactive force to at least partially offset a gravitational force acting on the arm during movement.
  • a set of compensation elements may be provided and the user may select one or more compensation elements to couple between the harness and the arm support.
  • multiple compensation elements may be coupled between the harness and the arm support to increase the support provided.
  • individual compensation elements may be provided having different stiffness and/or flexibility characteristics such that a user may select one or more compensation elements having desired properties and couple them between the harness and the arm support.
  • a method for supporting an arm of a user during one or more tasks.
  • a harness may be placed on the user, the harness comprising an arm support movable relative to the harness and including an arm rest.
  • a portion of the user's arm may be supported using the arm rest such that the arm support subsequently follows movement of the user's arm.
  • the user may then perform one or more tasks involving movement of the user's arm, the arm support at least partially offsetting a gravitational force acting on the user's arm during the movement without substantially interfering in the movement.
  • a method for supporting an arm of a user during one or more tasks using a system including a harness, an arm support, and one or more, e.g., a plurality of compensation elements.
  • One or more of the compensation elements may be selected and coupled between the harness and the arm support.
  • the harness may be placed on the user and the arm support may be coupled to the user's arm.
  • the user may then perform one or more tasks involving movement of the user's arm, the one or more compensation elements coupled between the harness and the arm support at least partially offsetting a gravitational force acting on the user's arm during the movement.
  • the devices, systems, and methods herein may counterbalance all or part of the weight of one or both of a user's arms as the user performs one or more tasks, which may reduce arm and/or shoulder muscle fatigue and/or improve the user's steadiness and precision.
  • the arm support systems herein may adaptively reposition with the user, e.g., following movement of the user's arms as the user performs normal tasks without substantially interfering with the tasks.
  • the weight of one or both of the user's arms may be transmitted into the harness via a system of arm rests and compensation elements.
  • the system may transmit at least a portion of the weight of the user's arm(s) to the user's abdomen, shoulder, hips, sides, or other regions of the user's torso, which may be more readily adapted to receive and resist such forces without undue muscle fatigue and/or discomfort.
  • FIG. 1 is a perspective view of a person with arms outstretched.
  • FIG. 2 shows a rear perspective view of an exemplary embodiment of a body-mountable adaptive arm support system configured to be worn by a user.
  • FIGS. 3A and 3B show perspective and exploded views, respectively, of an exemplary compensation element for a body-mountable adaptive arm support system.
  • FIG. 3C is a perspective view of the compensation element of FIGS. 3A and 3B , subjected to an external force causing the compensation element to curve.
  • FIGS. 4A-4C are perspective views of an exemplary body-mountable adaptive arm support system being worn by a user with different arm positions of the user.
  • FIG. 5 shows reaction forces relevant to a body-mountable adaptive arm support system when the compensation elements are curved to accommodate movement of a user's arms.
  • FIGS. 6A and 6B are details of the attachment of compensation elements to a body-mountable adaptive arm support system.
  • FIGS. 7A-7C are perspective and side views of an adjustable body-mountable adaptive arm support system.
  • FIGS. 8A and 8B are perspective and detail views of a body-mountable adaptive arm support system with compensation elements joined at a single pivot.
  • FIGS. 9A and 9B are perspective views of another exemplary embodiment of a body-mountable adaptive arm support system worn by a user, showing the user's right arm in different positions.
  • FIG. 9C is a top view of the adaptive arm support system of FIGS. 9A and 9B .
  • FIGS. 10A and 10B are perspective views of yet another exemplary embodiment of a body-mountable adaptive arm support system worn by a user, showing the user's right arm in different positions.
  • FIG. 10C is a top view of the adaptive arm support system of FIGS. 10A and 10B .
  • FIGS. 10D and 10E are details of the adaptive arm support system of FIGS. 10A and 10B , showing a rotatable mount thereon in different positions to modify the amount of compensation provided by the system.
  • the present application provides various adaptive arm support systems that support one or both of a user's arms, e.g., substantially vertically, while allowing substantially free motion of the arm(s), e.g., in multiple directions and elevations, to allow the user to perform one or more tasks for extended periods of time with the arm(s) extended.
  • vertical generally means substantially vertical, i.e., along a vertical axis extending generally parallel to the spinal column of the user U.
  • horizontal generally means substantially horizontal, i.e., along a horizontal axis that extends orthogonally, e.g., substantially perpendicular, to the vertical axis extending generally parallel to the spinal column of the user U.
  • the horizontal axis may extend generally parallel to an axis extending between the shoulders of the user U.
  • FIG. 2 a first exemplary embodiment of an adaptive arm support system 10 is shown.
  • Shoulder brackets 18 are connected to cross bar 20 , which joins vertical bar 15 .
  • Vertical bar 15 further connects to belt 25 at belt connection plate 26 .
  • Vertical bar 15 may be rigid, semi-rigid, or flexible, and may have a cross-section that is rectangular, square, round, oval, or any other shape or combinations thereof, and may pivot or flex relative to belt connection plate 26 (not shown).
  • the vertical bar 15 may be sufficiently flexible or malleable to allow the user U to bend over or otherwise move, while providing sufficient column strength and/or other support between the cross bar 20 and the belt 25 .
  • Belt 25 may be rigid, semi-rigid, rigid in one plane, rigid in certain regions, or flexible.
  • a belt closure 28 is provided to permit tightening of belt 25 .
  • Belt 25 may be secured around the user's waist, hips, or other region of the user's abdomen such that the vertical bar 15 (and vertical axis 16 ) is substantially aligned with the user's spine, and the cross bar 20 is mounted substantially horizontal in the region adjacent to the user's shoulders. Straps, belts, or other fastening devices (not shown) may be provided to further secure adaptive arm support 10 to user U, e.g., in addition to or instead of the components described herein, such as those disclosed in application Ser. No. 13/353,268, incorporated by reference herein.
  • the cross bar 20 provides mounting points for mounting blocks 22 , which provide attachment points for one or more compensation element(s) 50 .
  • Compensation element(s) 50 are, in turn, attached to arm brackets 30 .
  • Arm rests 36 may be attached to arm brackets 30 , e.g., to enhance supporting and/or coupling a user's arms to the compensation element(s) 50 .
  • These elements may be collectively formed into a harness, a jacket, a shirt, or other garment, and may be worn outside of, underneath, or instead of other clothing.
  • an exemplary compensation element 50 that includes a proximal end P and a distal end D.
  • an elongate resilient member 52 which may be composed of metal, polymer, composite, and/or other material (and which may formed as a solid, tubular, or other hollow member, e.g., woven, segmented, formed as a single rod or a bundle of rods, and the like) is attached at one end to a mounting pivot 54 at the proximal end P of the compensation element 50 .
  • the resilient member 52 may have super-elastic properties, such as those associated with super-elastic Nitinol.
  • Resilient member 52 may be substantially straight, or may be curved in its relaxed state, e.g., biased to a predetermined configuration when free from external sources.
  • Mounting pivot 54 which encircles or is otherwise coupled to the resilient member 52 , may optionally rotate relative to the resilient member 52 , e.g., about rotate axis 56 , as shown by rotate path 57 .
  • a stop collar 58 may be disposed on the mounting pivot 54 to aid in positioning, as described below. Locating collars 59 and 60 , which may be rigidly attached to the resilient member 52 , may maintain the position of the mounting pivot 54 along the resilient member 52 .
  • the resilient member 52 may also be rigidly attached at its other end to slide rod 64 .
  • the far end of the slide rod 64 may define the distal end D of the compensation element 50 .
  • the slide rod 64 is encircled by or otherwise coupled to slide mount 68 , and may translate axially relative to slide mount 68 along slide path 70 , and/or rotate relative to slide mount 68 along rotate path 72 .
  • slide rod 64 may be fixed relative to slide mount 68 , or may be fixed axially relative to slide mount 68 while remaining free to rotate relative to slide mount 68 .
  • the slide rod 64 includes one or two limit stops 66 , which ensure that the slide rod 64 does not come out of the slide mount 68 .
  • the slide mount 68 also includes slide mount pivot 74 , at which it is attached to slide mount anchor 80 , and which defines pivot axis 76 .
  • the slide mount 68 may pivot relative to the slide mount anchor 80 about the pivot axis 76 , along pivot path 78 .
  • the slide mount anchor 80 may also include anchor pivot 82 , which defines pivot axis 84 , about which the slide mount anchor 80 (and thus the slide mount 68 ) may pivot along pivot path 86 .
  • FIG. 3B is an exploded view of the compensation element 50 .
  • the slide mount pivot 74 in the slide mount 68 may form a rotatable connection with anchor slide pivot 75 in the slide mount anchor 80 .
  • FIG. 3C shows the compensation element 50 deflected away from the rotate axis 56 in response to a load Fl, approximately along deflection path 94 .
  • the resilient member 52 is shown bending in response to load Fl, and in response to this deflection creates a restoring force Fr, acting opposite load Fl.
  • the properties of the resilient member 52 may be modified to increase or decrease the restoring force Fr, for example, by modifying the stiffness of the material used to manufacture the resilient member 52 and/or by increasing or decreasing the diameter and/or length of the resilient member 52 .
  • the material properties of the resilient member 52 may be chosen to provide a more consistent restoring force Fr through a large range of deflections. For example Nitinol wire, used within accepted parameters of strain, may provide more consistency in restoring force Fr.
  • the properties of the resilient member 52 may be chosen to provide a progressively greater or otherwise variable restoring force Fr during its desired range of deflections.
  • a reaction moment M and reaction force Fra at the proximal end P counteracts load Fl, and acts to maintain substantial static balance.
  • the slide rod 64 generally more rigid than the resilient member 52 , may remain substantially straight during such movement.
  • FIG. 4A a semi-perspective view from behind, shows the user U's right arm Ar inserted into adaptive arm support 10 .
  • Arm rest 36 is positioned on the underside of arm Ar.
  • Arm bracket 30 attached to the arm rest 36 , connects the arm rest 36 to the distal end D of one or more compensation element(s) 50 (as described in greater detail below).
  • FIG. 4A shows, by way of example, four compensation elements 50 in use on the user U's right arm Ar.
  • the resilient members 52 of compensation elements 50 are shown deflected by the weight of the user's arms, as shown in FIG. 3C .
  • the proximal ends P of the compensation elements 50 connect to mounting blocks 22 , which in turn attach to cross bar 20 , and the resilient members 52 pass over the user's shoulder from the cross bar 20 to the arm bracket 30 without contacting the shoulder when the harness and arm rest 36 are worn by the user U.
  • Restoring or lifting force Fr created by deflected compensation elements 50 (defined in FIG. 3C ), acts in response to the weight Wr of the user U's right arm Ar, acting to lift or counterbalance all, or a portion of, the weight Wr and reduce the muscular effort the user U needs to employ to hold the arm Ar outstretched.
  • FIG. 4B a semi-perspective view of the front of the user U, shows the user U's left arm Al (in this case supported by only two compensation elements 50 ) lowered approximately along path 102 , demonstrating the ability of the adaptive arm support 10 to react to movements of the user U's arms.
  • the resilient members 52 have deflected further than shown in FIG. 4A .
  • FIG. 4C shows the user U's left arm Al lifted upward approximately along path 104 , in which case the resilient elements 52 are deflected less than shown in FIG. 4A .
  • the adaptive arm support 10 is able to accommodate infinite positions of the user U's arms, and the user U may be able to move their arms to desired positions, while the adaptive arm support system 10 moves with (or “adapts to”) the user U's arms, simultaneously supporting them without substantially interfering with the movement.
  • the number of compensation elements may be varied as desired. This permits the user U to adjust the amount of compensation force in response to the weight of the user's arms, or the requirements of the task. If more force is desired, for example, if the user U's arms are heavy or the user U is expecting to hold heavy objects, more compensation elements 50 may be added, and conversely, if less force is desired, compensation elements 50 may be removed.
  • the user U may desire a light counterbalancing force that compensates for approximately 40% of the gravitational forces Wr and Wl that may act on the user's arms (under-compensation).
  • the user U may desire a high counterbalancing force that compensates for approximately 115% of the gravitational forces Wr and Wl on the user's arms (over-compensation).
  • FIG. 5 shows examples of reaction forces from the user's abdomen on an adaptive arm support 10 , such as that shown in FIGS. 4A-4C .
  • Shoulder brackets 18 and belt 25 make contact with the torso of the user U, at or around the abdomen, and provide surfaces for resisting the forces and/or torques input to the adaptive arm support system 10 by the user's arms Ar and Al to other portions of the user's body.
  • other portions of the body may substantially bear the load of the user's arms, transmitted via the adaptive arm support 10 , rather than the muscles of the user's back, shoulders, and/or arms themselves.
  • it may desirable that the areas of the abdomen bearing these loads do not require muscular activity to do so.
  • Frsb may be applied to the adaptive arm support 10 by a force from a portion of the user's back or shoulder.
  • Frst and Frsf may be provided by the top and front of the user's shoulders.
  • Frw and Frh may result from contact with the user's waist and hips, respectively.
  • FIG. 6A shows a detail view of the attachment of the proximal end P of the compensation elements 50 to the harness, e.g., similar to that shown in FIG. 4A .
  • the mounting pivot 54 of each compensation element 50 is seated into a recess (not shown) in the mounting block 22 .
  • the stop collar 58 locates the mounting pivot 54 relative to the mounting block 22 .
  • the resilient member 52 is able to rotate within the mounting pivot 54 , about rotate axis 56 (as shown by rotate path 57 ).
  • the compensation element(s) 50 are able to rotate about axis 56 in response to movement of the user U's arms in the course of performing a task.
  • the mounting block 22 may accommodate one or more compensation elements 50 , as desired.
  • the mounting block 22 may provide arrangements of mounting pivots that differ from the linear pattern shown in FIG. 6A , for example square, or circular.
  • the mounting block 22 may be repositioned along the cross bar 20 as desired by user U, for example, along path 108 , using one or more releasable connectors (not shown), to accommodate the breadth of the user U's shoulders.
  • the cross bar 22 may be adjustable relative to the vertical bar 15 , for example, along path 110 , to accommodate the length of the user U's abdomen.
  • the harness of the adaptive arm support 10 may be adjustable to accommodate the size and/or dimensions of the user U.
  • FIG. 6B is a detail view of attachment of the distal end D of the compensation element(s) 50 to the arm bracket 30 , e.g., similar to that shown in FIG. 4A .
  • the resilient members 52 may be rigidly attached to the slide rod 64 , as shown in FIG. 3A .
  • the slide rod 64 may translate relative to the slide mount 68 , approximately along slide path 70 , and/or rotate relative to the slide mount 68 along rotate path 72 , e.g., to accommodate changes if the position of the arm bracket 30 resulting from motion of the user's arm Ar.
  • the slide mount 68 may pivot relative to the slide mount anchor 80 about pivot axis 76 and/or along pivot path 78 .
  • the slide mount anchor 80 may also include anchor pivot 82 , which defines pivot axis 84 , about which the slide mount anchor 80 (and thus the slide mount 68 ) may pivot along pivot path 86 .
  • the slide mount anchor 80 may be attached to the arm bracket 30 via a rotatable connection 115 at anchor pivot 82 , for example, using a rivet or other rotatable fastener (not shown), permitting the slide mount anchor 80 (and thus the distal end D of the compensation element 50 ) to pivot approximately along pivot path 86 .
  • Restoring force Fr (described above in reference to FIG.
  • the compensation element(s) 50 (and the adaptive arm support system 10 in general) may provide a counterbalancing force while accommodating any motion and infinite position of the user's arm(s) as it “adapts to” the motion of the user U's arms, e.g., simultaneously supporting them without substantially interfering with the movement.
  • FIG. 7A a semi-perspective view from behind, shows another exemplary embodiment of an adaptive arm support system 200 with a position adjustment feature.
  • Cross bar 20 is attached to cross bar hub 210 .
  • the cross bar hub 210 housed within cross bar rotate housing 215 , and of generally circular cross section, is able to rotate relative to the cross bar rotate housing 215 about rotate axis 217 , approximately along path 219 .
  • Mounting block 22 in which one or more mounting pivots 54 (at proximal end P of compensation element(s) 50 ) are seated, is attached to the cross bar 20 , and thus may rotate along with the cross bar 20 about axis 219 (e.g., as described below).
  • FIG. 7A shows features directed towards fixing the angular position of the cross bar 20 (e.g., once the cross bar 20 has been rotated relative to the cross bar rotate housing 215 ).
  • Lock bar 222 is rigidly attached to vertical bar 15 . Attached to the ends of the lock bar 222 are lock plates 224 , which provide mounting for one or more lock features 226 .
  • Angle lock handle 232 is connected to the cross bar 20 and is configured to be positionable adjacent to one or more lock features 226 , thereby fixing the angular position of the cross bar 20 .
  • the angle lock handle 232 may be attached to the cross bar 20 by rigid, flexible, or pivoting connection (not shown) in order to ease repositioning of the angle lock handle 232 adjacent to the appropriate lock features 226 .
  • FIG. 7B is a side view of the adaptive arm support system 200 , adjusted to favor lower positions of arm Ar (for example, in tasks that occur near waist level).
  • the angle lock handle 232 is shown cooperating with the lock features 226 to tilt axis 56 of the mounting pivot(s) 54 forward relative to substantially vertical axis V, approximately by angle 244 .
  • the user's arm Ar is oriented approximately along axis 240 , diverging from substantially horizontal axis H approximately by angle 242 . In this position, the weight of the arm Ar may be 100% compensated for, i.e., at a neutral position.
  • the user U may move the arm Ar freely in any direction, but little or no muscular effort may be required to maintain the position along axis 240 .
  • FIG. 7C is a side view of the adaptive arm support system 200 , adjusted to favor higher positions of the arm Ar (for example, in tasks that occur overhead).
  • the angle lock handle 232 is shown cooperating with the lock features 226 to tilt axis 56 of the mounting pivots 54 backward relative to substantially vertical axis V, approximately by angle 250 .
  • the user's arm Ar is oriented approximately along axis 246 , diverging from substantially horizontal axis H approximately by angle 248 . In this position, the weight of the arm Ar may be 100% compensated for, i.e., at a neutral position.
  • the user U may move the arm Ar freely in any direction, but little or no muscular effort may be required to maintain the position along axis 246 .
  • the adaptive arm support system 200 may be adjusted to provide a neutral position where desired, e.g., at a plurality of positions between a lower neutral position and an upper neutral position.
  • FIG. 8A shows another embodiment of a compensation element 350 , which differs from the previously described compensation elements by the absence of a mounting pivot at the proximal end P.
  • Resilient member 52 is rigidly attached to one end of slide rod 64 .
  • the far end of the slide rod 64 defines distal end D.
  • the slide rod 64 is encircled by slide mount 68 , and may translate relative to the slide mount 68 along slide path 70 , and/or may rotate relative to the slide mount 68 along rotate path 72 .
  • the slide rod 64 includes two limit stops 66 , which may ensure that the slide rod 64 does not come out of the slide mount 68 .
  • the slide mount 68 also includes slide mount pivot 74 , at which it is attached to slide mount anchor 80 , and which defines pivot axis 76 .
  • the slide mount 68 may pivot relative to the slide mount anchor 80 about pivot axis 76 and/or along pivot path 78 .
  • the slide mount anchor 80 also includes anchor pivot 82 , which defines pivot axis 84 , about which the slide mount anchor 80 (and thus the slide mount 68 ) may pivot along pivot path 86 .
  • FIG. 8B shows an exemplary embodiment of an adaptive arm support system 300 including a single pivot mount for compensation elements 350 .
  • Proximal end(s) P of the compensation element(s) 350 may be rigidly attached to single pivot hub 310 .
  • the single pivot hub 310 is rotationally mounted to single pivot housing 312 , and is free to pivot about pivot axis 314 , approximately along path 316 .
  • one or more compensation elements 350 may pivot about a single axis 314 in response to the motion of user U's arm Ar, while providing a compensation force for the weight of the arm Ar.
  • FIGS. 9A-9C another exemplary embodiment of an adaptive arm support system 400 is shown worn by a user U.
  • the system 400 is generally similar to other embodiments herein, i.e., including one or more compensation elements (one shown for each arm) 50 coupled between a crossbar 20 of a frame or harness, and an arm bracket 30 and/or arm rest 36 supporting one or botharms of the user U such that the compensation elements 50 pass over the user's shoulders from the cross bar 20 to the arm bracket 30 without contacting the shoulders when by the user U.
  • the proximal ends of the compensation elements 50 are coupled to hinge components 410 , 420 , e.g., at anchor point 425 , to create pivot point 415 .
  • a first hinge component 410 may be fixedly attached to the crossbar 20
  • the anchor point 425 of the compensation elements 50 may be fixedly received in or otherwise attached to a second hinge component 420 .
  • the hinge components 410 , 420 may pivot relative to one another about a single axis 430 , as shown, or may pivot about multiple axes or may including a rotational socket allowing rotation in two dimensions (not shown).
  • the hinge components 410 , 420 may permit anchor point 425 to pivot about axis 430 approximately along paths 435 and 436 in response to sideways motion of user's arm approximately along paths 432 and 434 .
  • FIGS. 10A-10E another exemplary embodiment of an adaptive arm support system 500 is shown worn by a user U.
  • the system 500 is generally similar to other embodiments herein, i.e., including one or more compensation elements (one shown for each arm) 50 coupled between a crossbar 20 of a frame or harness, and an arm bracket 30 and/or arm rest 36 supporting one or both arms of the user U.
  • the proximal ends of the compensation elements 50 are coupled to hinge components 510 , 520 to create pivot point 512 , which may accommodate movement of the user U's arm, e.g., about vertical axis 550 and/or along path 552 .
  • a first hinge component 510 may be fixedly attached to the crossbar 20
  • a second hinge component 520 may be free to pivot relative to the first hinge component 510 about vertical axis 545 , e.g., in response to sideways motion of user's arm approximately along paths 560 and 565 .
  • a lockably rotatable mount 530 is coupled to the second hinge component 520 at distal pivot point 522 such that the rotatable mount 530 may be selectively rotated about axis 570 .
  • the proximal ends of the compensation elements 50 may be coupled to the rotatable mount 530 , e.g., permanently or removably received in a socket 540 in the rotatable mount 530 similar to other embodiments herein.
  • the rotatable mount 530 may be released, the relative orientation of the rotatable mount 530 with the second hinge component 520 about axis 570 may be adjusted, and then the rotatable mount 530 may be locked again, thereby fixing the relative orientation.
  • the proximal ends of the compensation elements 50 may pivot freely about the vertical axis 545 , e.g., in response to sideways motion of user's arm approximately along paths 560 and 565 , while the rotatable mount 530 may be selectively adjusted and locked.
  • the vertical axis 545 of the hinge components 510 , 520 may remain substantially parallel to the vertical axis of the harness, e.g., substantially parallel to the longitudinal axis of the vertical bar 15 , unlike the system 400 of FIGS. 9A-9C , in which the vertical axis 430 may not always be parallel to the vertical axis of the harness.
  • the distal pivot 522 may be used to lockably rotate the rotatable mount 530 relative to hinge components 510 , 520 about axis 570 , which may change the restoring force on the user U's arm, e.g., adjusting the level of compensation and/or the “zero” point for the system 500 .
  • the rotatable mount 530 is square with the second hinge component 520 . In FIG. 10B and 10C , the rotatable mount 530 is square with the second hinge component 520 .
  • the rotatable mount 530 has been rotatably offset from the second hinge component 520 , e.g., approximately along path 580 , which may raise the zero point or increase the compensation when the user U's arm is lowered, since the proximal end of the compensation element 50 is offset away from the vertical axis of the harness.
  • the rotatable mount 530 has been rotatably offset from the second hinge component 520 , e.g., approximately along path 582 , which may lower the zero point or decrease the compensation when the user U's arm is lowered.
  • the systems described above may be used in a variety of fields and applications.
  • the systems may be worn by physicians, e.g., surgeons, dentists, and the like, to facilitate extension of the physician's arm(s) during an extended surgical, medical, or dental procedure.
  • the systems may be worn by construction workers, e.g., painters, carpenters, and the like, manufacturing workers, e.g., involved in product assembly, and the like, disabled individuals, and/or other users who perform tasks for an extended period of time in which one or both arms may be extended outwardly from the user's body.
  • the devices and systems herein may be worn or otherwise placed on the user's body, e.g., by securing a harness onto the user's abdomen, e.g., their waist, hips, shoulders, back, chest, and the like.
  • An arm support of the devices or systems e.g., coupled to or otherwise carried by the harness, may be used to support the user's arm such that the arm support subsequently follows movement of the user's arm.
  • the user may then perform one or more tasks involving movement of the user's arm, the arm support at least partially offsetting a gravitational force acting on the user's arm and/or at least partially transferring the gravitational force to the user's abdomen during the movement without substantially interfering in the movement.
  • the devices and systems herein may facilitate the user performing the task(s) for greater lengths of time and/or with reduced fatigue and/or injury.

Landscapes

  • Health & Medical Sciences (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Public Health (AREA)
  • General Health & Medical Sciences (AREA)
  • Biomedical Technology (AREA)
  • Heart & Thoracic Surgery (AREA)
  • Veterinary Medicine (AREA)
  • Engineering & Computer Science (AREA)
  • Animal Behavior & Ethology (AREA)
  • Orthopedic Medicine & Surgery (AREA)
  • Nursing (AREA)
  • Vascular Medicine (AREA)
  • Surgery (AREA)
  • Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
  • Oral & Maxillofacial Surgery (AREA)
  • Pathology (AREA)
  • Medical Informatics (AREA)
  • Molecular Biology (AREA)
  • Manipulator (AREA)
  • Orthopedics, Nursing, And Contraception (AREA)
US13/563,728 2012-07-31 2012-07-31 Adaptive arm support systems and methods for use Active 2034-07-23 US9999534B2 (en)

Priority Applications (6)

Application Number Priority Date Filing Date Title
US13/563,728 US9999534B2 (en) 2012-07-31 2012-07-31 Adaptive arm support systems and methods for use
EP13825208.5A EP2879843B1 (fr) 2012-07-31 2013-07-30 Systèmes de support de bras adaptatifs et procédés d'utilisation
CA2880561A CA2880561C (fr) 2012-07-31 2013-07-30 Systemes de support de bras adaptatifs et procedes d'utilisation
PCT/US2013/052782 WO2014022433A1 (fr) 2012-07-31 2013-07-30 Systèmes de support de bras adaptatifs et procédés d'utilisation
JP2015525523A JP6515265B2 (ja) 2012-07-31 2013-07-30 適応型アームサポートシステム及びその使用方法
US16/011,577 US11045342B2 (en) 2012-07-31 2018-06-18 Adaptive arm support systems and methods for use

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
US13/563,728 US9999534B2 (en) 2012-07-31 2012-07-31 Adaptive arm support systems and methods for use

Related Child Applications (1)

Application Number Title Priority Date Filing Date
US16/011,577 Continuation US11045342B2 (en) 2012-07-31 2018-06-18 Adaptive arm support systems and methods for use

Publications (2)

Publication Number Publication Date
US20140033391A1 US20140033391A1 (en) 2014-02-06
US9999534B2 true US9999534B2 (en) 2018-06-19

Family

ID=50023996

Family Applications (2)

Application Number Title Priority Date Filing Date
US13/563,728 Active 2034-07-23 US9999534B2 (en) 2012-07-31 2012-07-31 Adaptive arm support systems and methods for use
US16/011,577 Active 2033-05-21 US11045342B2 (en) 2012-07-31 2018-06-18 Adaptive arm support systems and methods for use

Family Applications After (1)

Application Number Title Priority Date Filing Date
US16/011,577 Active 2033-05-21 US11045342B2 (en) 2012-07-31 2018-06-18 Adaptive arm support systems and methods for use

Country Status (5)

Country Link
US (2) US9999534B2 (fr)
EP (1) EP2879843B1 (fr)
JP (1) JP6515265B2 (fr)
CA (1) CA2880561C (fr)
WO (1) WO2014022433A1 (fr)

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US10617551B2 (en) * 2014-10-24 2020-04-14 Enhance Technologies, LLC Arm support systems

Families Citing this family (24)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP6086482B2 (ja) * 2013-04-05 2017-03-01 学校法人自治医科大学 関節拘縮、固縮または痙縮のシミュレータ
JP6600316B2 (ja) 2014-04-08 2019-10-30 エンハンス テクノロジーズ，リミテッド ライアビリティー カンパニー 重量用腕サポートシステム
US10058994B2 (en) * 2015-12-22 2018-08-28 Ekso Bionics, Inc. Exoskeleton and method of providing an assistive torque to an arm of a wearer
US10569413B2 (en) * 2015-12-22 2020-02-25 Ekso Bionics, Inc. Exoskeleton and method of providing an assistive torque to an arm of a wearer
SE541542C2 (en) * 2016-10-05 2019-10-29 Bioservo Tech Aktiebolag Armlifting support device
EP3529015B1 (fr) * 2016-10-21 2021-05-05 Skel-Ex Holding B.V. Support d'équilibrage de force
DE102016121203A1 (de) * 2016-11-07 2018-05-09 Otto Bock Healthcare Gmbh Vorrichtung zum Unterstützen eines Armes
JP2018122394A (ja) * 2017-01-31 2018-08-09 株式会社マキタ 作業補助具
US10918559B2 (en) 2017-04-25 2021-02-16 Ossur Iceland Ehf Interface system in an exoskeleton
EP3624996A4 (fr) 2017-05-15 2021-03-24 Enhance Technologies, LLC Systèmes de support de bras
CN109475462A (zh) * 2017-05-25 2019-03-15 美国仿生公司 用于外骨骼设备的可调整躯干及髋部组合件
DE102017112436B4 (de) 2017-06-06 2019-05-29 Ottobock Se & Co. Kgaa Vorrichtung zum Unterstützen wenigstens eines Armes eines Benutzers
WO2019067835A1 (fr) 2017-09-28 2019-04-04 Ossur Iceland Ehf Interface corporelle
USD876654S1 (en) 2018-04-24 2020-02-25 Ossur Iceland Ehf Posterior strut
DE102018119755A1 (de) 2018-08-14 2020-02-20 Ottobock Se & Co. Kgaa Vorrichtung zum Unterstützen wenigstens eines Armes eines Benutzers
CN109732564A (zh) * 2018-11-23 2019-05-10 上海谐趣技术有限公司 一种腰椎负重辅助外骨骼
KR102603041B1 (ko) * 2018-12-12 2023-11-16 현대자동차주식회사 착용식 근력 보조 장치
DE102019104344A1 (de) * 2019-02-20 2020-08-20 Pohlig Gmbh Vorrichtung zum Unterstützen wenigstens eines Armes eines Benutzers und Kopfstütze
DE102019113684A1 (de) * 2019-05-22 2020-11-26 Ottobock Se & Co. Kgaa Vorrichtung zum Unterstützen wenigstens eines Armes
TR201909434A2 (tr) * 2019-06-25 2021-01-21 Goekhan Bursoy Üst Uzuvlar İçin Giyilebilir Kuvvet Destek Sistemi
PL239976B1 (pl) * 2020-02-19 2022-01-31 Xdeep Spolka Z Ograniczona Odpowiedzialnoscia Uprząż nurkowa
RU202453U1 (ru) * 2020-06-11 2021-02-18 Общество с ограниченной ответственностью "Экзомед" Пассивный экзоскелет верхних конечностей
FR3124102B1 (fr) * 2021-06-18 2023-06-30 Ergosante Tech Exosquelette léger
US12115094B1 (en) 2024-04-07 2024-10-15 Wishnew Llc Wearable armrest apparatuses

Citations (21)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US3120332A (en) * 1962-09-05 1964-02-04 Theodore R White Umbrella support
US4180870A (en) 1975-04-15 1980-01-01 Fa Wilh. Jul. Teufel Universal-orthese
US4298149A (en) 1978-01-17 1981-11-03 Panavision, Incorporated Body harness for cinematographer
US5020521A (en) * 1982-11-10 1991-06-04 Salort Guy J External apparatus for motor handicaps of at least one upper limb
US5111983A (en) 1986-02-10 1992-05-12 Simmons Elex M Camera stabilizing device
JPH1071161A (ja) 1996-08-29 1998-03-17 Tamotsu Yanagisawa 肩支え装置
US5829652A (en) * 1997-02-19 1998-11-03 Denzer; Joanne Body-conformable apparatus
US6301526B1 (en) 1999-03-12 2001-10-09 Institute Of Science And Technology Master device having force reflection function
JP2002153115A (ja) 2000-11-24 2002-05-28 Haimuun Kk 人体装着型対高所所在物向け作業用両腕支持装置
US20030120183A1 (en) 2000-09-20 2003-06-26 Simmons John C. Assistive clothing
JP2008295696A (ja) 2007-05-31 2008-12-11 Hiroshi Udo 上肢挙上作業用支援装置
WO2009029693A1 (fr) 2007-08-30 2009-03-05 Brown Garrett W Support de bras humain articulé
WO2009040908A1 (fr) 2007-09-27 2009-04-02 Yoshiyuki Sankai Appareil de réglage de tour et procédé de commande d'un appareil tournant
US20090149790A1 (en) * 2007-12-05 2009-06-11 Saebo, Inc. Orthotic device spanning elbow
US20090259154A1 (en) * 2008-04-09 2009-10-15 Nace Richard A Osteoarthritis knee orthosis
JP2009273711A (ja) 2008-05-15 2009-11-26 Tokyo Univ Of Science 上腕保持装置、及び、上腕補助装置
WO2012099995A2 (fr) 2011-01-18 2012-07-26 Doyle Mark C Systèmes de support de bras adaptatifs et leurs procédés d'utilisation
WO2013106532A1 (fr) 2012-01-11 2013-07-18 Brown Garrett W Exosquelette d'instrument de calibrage résistant aux charges et aux couples
WO2013155065A1 (fr) 2012-04-09 2013-10-17 Fawcett John Christopher Veste de support
GB2472036B (en) 2009-07-22 2013-12-04 David George Sherry A mechanical device to relieve the pain of repetitive strain injury in the muscles, joints and tendons of the human arm shoulder and back
US8641782B2 (en) 2010-01-06 2014-02-04 Samsung Electronics Co., Ltd. Compact exoskeleton arm support device to compensate for gravity

Family Cites Families (15)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPS54127735U (fr) * 1978-02-25 1979-09-05
JPS58134913A (ja) * 1982-01-29 1983-08-11 山田機械工業株式会社 作業用補助具
JPS6373963A (ja) * 1987-07-31 1988-04-04 ギ−、サロ−ル 手用外装具
JPH02113942U (fr) * 1989-02-28 1990-09-12
JP2721438B2 (ja) * 1991-04-01 1998-03-04 裕章 金子 腕の疲労軽減装置
US5360391A (en) * 1993-04-26 1994-11-01 Johnson Lanny L Shoulder brace
JPH07107861A (ja) * 1993-10-13 1995-04-25 Techno Mach:Kk 肩掛け式腕支え補助装具
US6082034A (en) * 1998-09-11 2000-07-04 Musmanno; Brad A. Apparatus for supporting the arm when extended from the body
US6709411B1 (en) * 1999-03-18 2004-03-23 David R. Olinger Shoulder brace, and methods of use
US6645093B2 (en) * 2001-10-05 2003-11-11 Mark C. Sheppard Basketball shot trainer
DE102005001843B4 (de) * 2005-01-14 2020-12-17 Andreas Stihl Ag & Co. Kg Tragesystem für ein Arbeitsgerät und Verfahren zum Baumschneiden
JP2007097636A (ja) * 2005-09-30 2007-04-19 Matsushita Electric Ind Co Ltd 筋力補助装置
JP2008220883A (ja) * 2007-03-16 2008-09-25 Shibaura Institute Of Technology 作業支援装置
JP5150444B2 (ja) * 2007-10-11 2013-02-20 一浩 北村 ブドウ栽培等の作業補助具
JP2010201105A (ja) * 2009-03-06 2010-09-16 Fuji Mold:Kk 体躯装着型補助器具

Patent Citations (23)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US3120332A (en) * 1962-09-05 1964-02-04 Theodore R White Umbrella support
US4180870A (en) 1975-04-15 1980-01-01 Fa Wilh. Jul. Teufel Universal-orthese
US4298149A (en) 1978-01-17 1981-11-03 Panavision, Incorporated Body harness for cinematographer
US5020521A (en) * 1982-11-10 1991-06-04 Salort Guy J External apparatus for motor handicaps of at least one upper limb
US5111983A (en) 1986-02-10 1992-05-12 Simmons Elex M Camera stabilizing device
JPH1071161A (ja) 1996-08-29 1998-03-17 Tamotsu Yanagisawa 肩支え装置
US5829652A (en) * 1997-02-19 1998-11-03 Denzer; Joanne Body-conformable apparatus
US6301526B1 (en) 1999-03-12 2001-10-09 Institute Of Science And Technology Master device having force reflection function
US20030120183A1 (en) 2000-09-20 2003-06-26 Simmons John C. Assistive clothing
JP2002153115A (ja) 2000-11-24 2002-05-28 Haimuun Kk 人体装着型対高所所在物向け作業用両腕支持装置
JP2008295696A (ja) 2007-05-31 2008-12-11 Hiroshi Udo 上肢挙上作業用支援装置
WO2009029693A1 (fr) 2007-08-30 2009-03-05 Brown Garrett W Support de bras humain articulé
US20110127390A1 (en) 2007-08-30 2011-06-02 Brown Garrett W Articulated human arm support
WO2009040908A1 (fr) 2007-09-27 2009-04-02 Yoshiyuki Sankai Appareil de réglage de tour et procédé de commande d'un appareil tournant
US20100217163A1 (en) 2007-09-27 2010-08-26 University Of Tsukuba Rotation adjustment apparatus and method of controlling rotary apparatus
US20090149790A1 (en) * 2007-12-05 2009-06-11 Saebo, Inc. Orthotic device spanning elbow
US20090259154A1 (en) * 2008-04-09 2009-10-15 Nace Richard A Osteoarthritis knee orthosis
JP2009273711A (ja) 2008-05-15 2009-11-26 Tokyo Univ Of Science 上腕保持装置、及び、上腕補助装置
GB2472036B (en) 2009-07-22 2013-12-04 David George Sherry A mechanical device to relieve the pain of repetitive strain injury in the muscles, joints and tendons of the human arm shoulder and back
US8641782B2 (en) 2010-01-06 2014-02-04 Samsung Electronics Co., Ltd. Compact exoskeleton arm support device to compensate for gravity
WO2012099995A2 (fr) 2011-01-18 2012-07-26 Doyle Mark C Systèmes de support de bras adaptatifs et leurs procédés d'utilisation
WO2013106532A1 (fr) 2012-01-11 2013-07-18 Brown Garrett W Exosquelette d'instrument de calibrage résistant aux charges et aux couples
WO2013155065A1 (fr) 2012-04-09 2013-10-17 Fawcett John Christopher Veste de support

Non-Patent Citations (3)

* Cited by examiner, † Cited by third party
Title
PCT International Search Report dated Nov. 11, 2013 in International Application No. PCT/US2013/052782 filed Jul. 30, 2013, Form ISA 210 (3 pages).
WREX. Jaeco Orthopedic Setup Instructions. Jan. 18, 2007. *
Written Opinion of the International Searching Authority dated Aug. 31, 2012 in International Application No. PCT/US2012/02177 filed Jan. 18, 2012, Form ISA 237 (4 pages).

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US10617551B2 (en) * 2014-10-24 2020-04-14 Enhance Technologies, LLC Arm support systems

Also Published As

Publication number Publication date
US20140033391A1 (en) 2014-02-06
EP2879843B1 (fr) 2019-01-16
CA2880561C (fr) 2020-10-27
CA2880561A1 (fr) 2014-02-06
EP2879843A1 (fr) 2015-06-10
WO2014022433A1 (fr) 2014-02-06
US11045342B2 (en) 2021-06-29
JP2015524752A (ja) 2015-08-27
EP2879843A4 (fr) 2016-05-25
US20180360637A1 (en) 2018-12-20
JP6515265B2 (ja) 2019-05-22

Similar Documents

Publication Publication Date Title
US11045342B2 (en) Adaptive arm support systems and methods for use
US11337880B2 (en) Adaptive arm support systems and methods for use
JP6894467B2 (ja) 適応的腕支持システムおよび使用方法
EP3267953B1 (fr) Structure support portable pour soulager au moins partiellement un corps humain penché vers l'avant ou fléchi
US20220378645A1 (en) Interface for an exoskeleton
JP2019536644A (ja) 背骨に作用する力を減少させるシステムおよび方法
US20240269824A1 (en) Flexible exoskeleton frames and arm support systems and methods for using them
NL2011482C2 (en) Wearable pivotable structure and method of supporting a torso.
NL2011483C2 (en) Wearable flexible structure and method of supporting a torso.

Legal Events

Date Code Title Description
AS Assignment

Owner name: LEVITATE TECHNOLOGIES, INC., CALIFORNIA

Free format text: ASSIGNMENT OF ASSIGNORS INTEREST;ASSIGNOR:DOYLE, MARK C.;REEL/FRAME:030545/0549

Effective date: 20130521

AS Assignment

Owner name: ENHANCE TECHNOLOGIES, LLC, CALIFORNIA

Free format text: ASSIGNMENT OF ASSIGNORS INTEREST;ASSIGNOR:LEVITATE TECHNOLOGIES, INC.;REEL/FRAME:044645/0140

Effective date: 20180103

STCF Information on status: patent grant

Free format text: PATENTED CASE

MAFP Maintenance fee payment

Free format text: PAYMENT OF MAINTENANCE FEE, 4TH YR, SMALL ENTITY (ORIGINAL EVENT CODE: M2551); ENTITY STATUS OF PATENT OWNER: SMALL ENTITY

Year of fee payment: 4

AS Assignment

Owner name: LEVITATE TECHNOLOGIES, INC., CALIFORNIA

Free format text: ASSIGNMENT OF ASSIGNORS INTEREST;ASSIGNOR:ENHANCE TECHNOLOGIES, LLC;REEL/FRAME:062248/0023

Effective date: 20221228